Enhanced Overhead Crane Control using ADRC and ZVD Input Shaping with Trajectory Planning

Abstract

Overhead crane control with time-varying cable length presents significant challenges, particularly in maintaining accurate trolley positioning while minimizing residual payload oscillations induced by lifting and lowering operations. This paper proposes a hybrid control approach combining Active Disturbance Rejection Control (ADRC) with Zero Vibration Derivative (ZVD) input shaping to address these issues. ADRC enhances system robustness against external disturbances and model uncertainties, providing stable tracking performance. However, due to its limitations in completely suppressing residual oscillations, the ZVD input shaper is integrated to reduce payload sway. To further optimize shaping performance under variable rope lengths, an average cable length strategy is employed for parameter tuning. Additionally, a reference trajectory planning scheme is developed to smooth command inputs, reducing sudden impacts, induced oscillations, and improving overall system stability during crane operation.